Charging station identifying method, device, and robot

ABSTRACT

The present disclosure relates to robot technology, and particularly to a method, a device, and a robot for identifying charging station. The method includes: first, obtaining scanning data produced by a radar of the robot; then, determining whether an arc-shaped object exists in a scanning range of the radar of the robot based on the scanning data; finally, in response to determining that the arc-shaped object exists in the scanning range of the robot, determining that the arc-shaped object is a charging station. Compared with the prior art, the present disclosure substitutes the arc identification for the conventional concave-convex structure identification. Since the surface of the arc is relatively smooth, the data jumps at the intersection of the cross-section will not occur, hence the accuracy of charging station identification can be greatly improved.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority to Chinese Patent Application No.201810350021.4, filed Apr. 18, 2018, which is hereby incorporated byreference herein as if set forth in its entirety.

BACKGROUND 1. Technical Field

The present disclosure relates to robot technology, and particularly toa method, a device, and a robot for identifying charging station.

2. Description of Related Art

With the continuous development of technologies, various types ofservice robots such as sweeping machines, tour guide robots, shoppingguide robots, consulting robots have emerged in succession, and therequirements for the capability of the robots such as longer dutyperiod, increased activity ranges, and extend autonomy duration areincreased. Therefore, the automatic recharging technology came intobeing, which guides a robot to approach a charging station when therobot is low on battery power so as to realize the docking and chargingin an automatic manner on the precondition of without humanintervention.

FIG. 1 is a marking structure of a charging station in the prior art. Inthe existing solution, in order to facilitate the robot to identify thecharging station, a marking structure as shown in FIG. 1 will generallybe disposed on the charging station, and the marking structure isgenerally formed by connecting at least one convex structure and atleast one concave structure, and the robot realizes the identificationof the charging station by performs matching to the marking structure.However, in the identification process, since data jumps easily occur atthe intersection of the cross-section of the convex structure and theconcave structure, which causes the low identification accuracy of thecharging station.

BRIEF DESCRIPTION OF THE DRAWINGS

To describe the technical schemes in the embodiments of the presentdisclosure more clearly, the following briefly introduces the drawingsrequired for describing the embodiments or the prior art. Apparently,the drawings in the following description merely show some examples ofthe present disclosure. For those skilled in the art, other drawings canbe obtained according to the drawings without creative efforts.

FIG. 1 is a marking structure of a charging station in the prior art.

FIG. 2 is a schematic block diagram of a robot according to anembodiment of the present disclosure.

FIG. 3 is a flow chart of a charging station identifying methodaccording to an embodiment of the present disclosure.

FIG. 4 is radar scanning data of a robot;

FIG. 5 is a schematic diagram of determining a charging station throughthe radar scanning data of the robot.

FIG. 6 is a schematic block diagram of a charging station identifyingdevice according to an embodiment of the present disclosure.

DETAILED DESCRIPTION

In order to make the object, features and advantages of the presentdisclosure more obvious and understandable, the technical solutions inthe embodiments of the present disclosure will be clearly and completelydescribed in the following with reference to the accompanying drawingsin the embodiments of the present disclosure. Apparently, the describedembodiments are merely part of the embodiments of the presentdisclosure, but not all of the embodiments. All other embodimentsobtained by those skilled in the art based on the embodiments of thepresent disclosure without creative efforts shall fall within theprotection scope of the present disclosure.

As used herein, the term “arc-shaped” refers to a segment of adifferential curve and/or to a minor arc, which is an angle at thecenter of the circle that is less than 180 degrees. An “arc-shapedstructure” refers to a structure being arc-shaped and may include anythree-dimensional structure of any given length. Typically, thearc-shaped structure will be planar to a floor of a building, but thedisclosure is not limited thereto.

FIG. 2 is a schematic block diagram of a robot according to anembodiment of the present disclosure. As shown in FIG. 2, in thisembodiment, a robot 6 may include, but is not limited to, a processor60, a storage 61, a computer program 62 stored in the storage 61 (e.g.,a memory) and executable on the processor 60, and a radar 63. When theprocessor 60 executes the computer program 62, steps in an embodiment ofa charging station identifying method (see FIG. 3) are implemented.Alternatively, when the processor 60 executes the computer program 62,the functions of each of the modules/units in a device embodiment (seeFIG. 6) are implemented.

Exemplarily, the computer program 62 may be divided into one or moremodules/units, and the one or more modules/units are stored in thestorage 61 and executed by the processor 60 to realize the presentdisclosure. The one or more modules/units may be a series of computerprogram instruction sections capable of performing a specific function,and the instruction sections are for describing the execution process ofthe computer program 62 in the robot 6.

The processor 60 may be a central processing unit (CPU), or be othergeneral purpose processor, a digital signal processor (DSP), anapplication specific integrated circuit (ASIC), a field-programmablegate array (FPGA), or be other programmable logic device, a discretegate, a transistor logic device, and a discrete hardware component. Thegeneral purpose processor may be a microprocessor, or the processor mayalso be any conventional processor.

The storage 61 may be an internal storage unit of the robot 6, forexample, a hard disk or a memory of the robot 6. The storage 61 may alsobe an external storage device of the robot 6, for example, a plug-inhard disk, a smart media card (SMC), a secure digital (SD) card, flashcard, and the like, which is equipped on robot 6. Furthermore, thestorage 61 may further include both an internal storage unit and anexternal storage device, of the robot 6. The storage 61 is configured tostore the computer program and other programs and data required by therobot 6. The storage 61 may also be used to temporarily store data thathas been or will be output.

FIG. 3 is a flow chart of a charging station identifying methodaccording to an embodiment of the present disclosure. In thisembodiment, the method is a computer-implemented method executable for aprocessor. The charging station identifying method is applied to arobot. As shown in FIG. 3, the method includes the following steps.

S201: obtaining radar scanning data produced by a radar of the robot.

FIG. 4 is radar scanning data of the robot. The radar scanning dataindicative of one or more objects and an environment surrounding therobot. As shown in FIG. 4, the circle in the figure represents therobot, and the points in the figure are obstacle information obtained byscanning obstacles through the radar of the robot. The higher theangular resolution of the radar, the greater the number of radar scanpoints for the obstacles of a particular position and size. In thisembodiment, for the position of the points scanned by the radar of therobot, a coordinate system with a center of the robot as the origin isused, where a direction in front of the robot is taken as the directionof X-axis, and a direction in the 90 degrees' counter-clockwise rotationof the X-axis is taken as the direction of Y-axis.

S202: determining whether an arc-shaped object exists in a radarscanning range of the radar of the robot based on the radar scanningdata.

Specifically, first, obtaining one or more sampling points from theradar scanning data; then, determining whether N sampling points meetinga preset first condition exists, where N is an integer greater than 1,and the specific value may be determined according to actual needs, forexample, it can be set to 10, 20, 30, and the like.

The first condition is a sum of an absolute value of one or more firsterror values being less than a preset first threshold, the first errorvalue is a difference of a distance between each of the one or moresampling points and a reference point as well as a preset referencedistance, and the reference point is any point within the radar scanningrange.

If there exists N sampling points meeting the first condition, thefollowing formula is tenable:

${{\sum\limits_{n = 1}^{N}{{Err}\; 1_{n}}} < {{Threshold}\; 1}};$

that is, the following formula is tenable:

${{\sum\limits_{n = 1}^{N}\left( {\sqrt{\left( {x_{n} - x_{0}} \right)^{2} + \left( {y_{n} - y_{0}} \right)^{2}} - R} \right)} < {{Threshold}\; 1}};$

then, it is determined that there exists the arc-shaped object in theradar scanning range of the robot. If there does not exist N samplingpoints meeting the first condition, it is determined that there existsno arc-shaped object in the radar scanning range of the robot. In which,the coordinates of the N sampling points can be respectively expressedas (x₁,y₁), (x₂, y₂), . . . , (x_(n),y_(n)), . . . , (x_(N),y_(N)),where 1≤n≤N, and the coordinate of the reference point can be expressedas (x₀, y₀). R is the reference distance, that is, the radius of thearc-shaped object, the specific value can be determined according to theactual needs, for example, it can be set to 15 cm, 20 cm, 25 cm, and thelike. Err1_(n) is the first error value of the sampling point(x_(n),y_(n)), and Err1_(n)=√{square root over((x_(n)−x₀)²+(y_(n)−y₀)²)}−R, Threshold1 is the first threshold, thespecific value may be determined according to the actual needs, and thevalue is positively correlated with N, and is positively correlated withR, that is, the greater the value of N is, the greater the value of R isand the greater the value of Threshold1 is. For example, it can be setto 10 cm, 15 cm, 20 cm, and the like.

In another possible implementation of this embodiment, in order toensure the accuracy of the determination result, in addition to that theN sampling points meet the first condition, it also needs to determinewhether the N sampling points meet a preset second condition, whereinthe second condition is an average value of one or more second errorvalues being less than a preset second threshold, and the second errorvalue is a square of a difference of the first error value and areference error value, the reference error value is an average value ofthe first error value.

If the N sampling points meet the (preset) second condition, thefollowing formula is tenable:

${\frac{\sum\limits_{n = 1}^{N}{{Err}\; 2_{n}}}{N} < {{Threshold}2}};$

that is, the following formula is tenable:

${\frac{\sum\limits_{n = 1}^{N}\left\lbrack {\left( {\sqrt{\left( {x_{n} - x_{0}} \right)^{2} + \left( {y_{n} - y_{0}} \right)^{2}} - R} \right) - \frac{\sum\limits_{n = 1}^{N}\left( {\sqrt{\left( {x_{n} - x_{0}} \right)^{2} + \left( {y_{n} - y_{0}} \right)^{2}} - R} \right)}{N}} \right\rbrack^{2}}{N} < {{Threshold}\; 2}};$

then, it is determined that there exists the arc-shaped object in theradar scanning range of the robot. If the N sampling points meet thesecond condition, it is determined that there exists no arc-shapedobject in the radar scanning range of the robot. In which, Err2_(n) is asecond error value of the sampling point (x_(n),y_(n)), andErr2_(n)=(Err1_(n)−AvErr)², AvErr is the reference error value,

${{AvErr} = \frac{\sum\limits_{n = 1}^{N}{{Err}\; 1_{n}}}{N}},$

and Threshold2 is the second threshold value, and the specific value maybe determined according to actual needs, for example, it may be set to50 square centimeters, 80 square centimeters, 100 square centimeters,and the like.

In another possible implementation of this embodiment, the chargingstation may be a concave circular object which facilitates the chargingof the robot. Therefore, in order to further ensure the accuracy of thedetermination result, in addition to that the N sampling points meet thefirst condition and the second condition, it is also need to determinewhether the composed object is convex or concave.

Specifically, first, obtaining a current position point of the robot. Inthe coordinate system established in this embodiment, the coordinate ofthe current position of the robot is (0, 0), that is, at the originposition. Then, calculating a first vector from the current positionpoint of the robot to the reference point, where the first vector may beexpressed as (x₀,y₀). Furthermore, calculating a second vector from atarget sampling point to the reference point, where the target samplingpoint is any one of the N sampling points, and the second vector may beexpressed as (x₀−x_(n), y₀-y_(n)). Finally, determining whether anincluded angle between the first vector and the second vector is greaterthan a preset angle threshold. Generally, the angle threshold may be setto 90 degrees, and the first vector and the second vector need to meetthe following conditions:

x ₀(x ₀ −x _(n))+y ₀(y ₀ −y _(n))<0;

if the condition is met, that is, the included angle between the firstvector and the second vector is greater than 90 degrees, which indicatesthat the object composed of the N sampling points is concave, and it isdetermined that there exists the arc-shaped object in the radar scanningrange of the robot. If the condition is not met, which indicates thatthe object compose of the N sampling points is convex, and it isdetermined that there exists no arc-shaped object in the radar scanningrange of the robot.

If there exists no arc-shaped object in the radar scanning range of therobot, step S203 is executed, and if the arc-shaped object exists in theradar scanning range of the robot, step S204 is executed.

S203: controlling a chassis of the robot to rotate a preset angle.

The angle may be set according to actual needs, for example, it may beset to 5 degrees, 10 degrees, 20 degrees, or the like. The direction ofrotation may be counterclockwise or clockwise. After the chassis of therobot is rotated, it returns to step S201 and subsequent steps, untilthere exists the arc-shaped object in the radar scanning range of therobot or the time consumption exceeds a preset time threshold. The timethreshold may be determined according to actual needs, for example, itmay be set to 2 minutes, 5 minutes, 10 minutes, and the like.

S204: determining the arc-shaped object as a charging station.

After finding the arc-shaped charging station, the position of thecenter of an arc of the charging station can be determined, and thetarget coordinate value and the target rotation angle at which a centerof the robot is to be moved can be found. FIG. 5 is a schematic diagramof determining a charging station through the radar scanning data of therobot. For example, if the radius of the arc of the charging station isthe same as the radius of the chassis of the robot, as shown in FIG. 5,the coordinate of the center of the arc of the charging station is thetarget coordinate of the chassis of the robot to be moved to, and theultimate orientation of the robot relates to the position of theconductive sheet/wheel on the robot, for example, the front of the robotcoincides with the front of the charging station when the conductivesheet/wheel is right behind the robot.

In summary, in this embodiment, first, obtaining radar scanning dataproduced by a radar of the robot; then, determining whether anarc-shaped object exists in a radar scanning range of the radar of therobot based on the radar scanning data; finally, determining thearc-shaped object as a charging station in response to determining thatthe arc-shaped object exists in the radar scanning range of the robot.Compared with the prior art, this embodiment substitutes the arcidentification for the conventional concave-convex structureidentification. Since the surface of the arc is relatively smooth, thedata jumps at the intersection of the cross-section will not occur,hence the accuracy of charging station identification can be greatlyimproved.

It should be understood that, the sequence of the serial number of eachstep in the above-mentioned embodiments does not mean the order ofexecution, and the order of execution of each process should bedetermined by its function and internal logic, and should not constituteany limitation on the implementation process of this embodiment.

FIG. 6 is a schematic block diagram of a charging station identifyingdevice according to an embodiment of the present disclosure. As shown inFIG. 6, the charging station identifying device is applied to a robot,and specifically includes:

a data obtaining module 501 configured to obtain radar scanning dataproduced by a radar of the robot;

an arc-shaped object determining module 502 configured to determinewhether an arc-shaped object exists in a radar scanning range of theradar of the robot based on the radar scanning data; and

a charging station determining module 503 configured to determine thearc-shaped object as a charging station in response to determining thatthe arc-shaped object exists in the radar scanning range of the robot.

Furthermore, the arc-shaped object determining module 502 may include:

a sampling point obtaining unit configured to obtain one or moresampling points from the radar scanning data; and

a first determining unit configured to determine whether N samplingpoints meeting a preset first condition exists, wherein N is an integergreater than 1, and the first condition is a sum of an absolute value ofone or more first error values being less than a preset first threshold,the first error value is a difference of a distance between each of theone or more sampling points and a reference point as well as a presetreference distance, and the reference point is any point within theradar scanning range.

Furthermore, the arc-shaped object determining module 502 may furtherinclude:

a second determining unit configured to determine whether the N samplingpoints meet a preset second condition, wherein the second condition isan average value of one or more second error values being less than apreset second threshold, and the second error value is a square of adifference of the first error value and a reference error value, thereference error value is an average value of the first error value.

Furthermore, the arc-shaped object determining module 502 may furtherinclude:

a position point obtaining unit configured to obtain a current positionpoint of the robot;

a first vector calculating unit configured to calculate a first vectorfrom the current position point of the robot to the reference point;

a second vector calculating unit configured to calculate a second vectorfrom a target sampling point to the reference point, wherein the targetsampling point is any one of the N sampling points;

a third determining unit configured to determine whether an includedangle between the first vector and the second vector is greater than apreset angle threshold.

Furthermore, the device may further include:

a chassis rotation module configured to control a chassis of the robotto rotate a preset angle, if there exists no arc-shaped object in theradar scanning range of the robot.

Those skilled in the art can clearly understand that, for theconvenience and brevity of the description, the specific operatingprocess of the above-mentioned apparatus (device), module and unit canrefer to the corresponding process in the above-mentioned methodembodiment, which are not described herein.

Those skilled in the art may clearly understand that, for theconvenience and simplicity of description, the division of theabove-mentioned functional units and modules is merely an example forillustration. In actual applications, the above-mentioned functions maybe allocated to be performed by different functional units according torequirements, that is, the internal structure of the device may bedivided into different functional units or modules to complete all orpart of the above-mentioned functions. The functional units and modulesin the embodiments may be integrated in one processing unit, or eachunit may exist alone physically, or two or more units may be integratedin one unit. The above-mentioned integrated unit may be implemented inthe form of hardware or in the form of software functional unit. Inaddition, the specific name of each functional unit and module is merelyfor the convenience of distinguishing each other and are not intended tolimit the scope of protection of the present disclosure. For thespecific operation process of the units and modules in theabove-mentioned system, reference may be made to the correspondingprocesses in the above-mentioned method embodiments, and are notdescribed herein.

In the above-mentioned embodiments, the description of each embodimenthas its focuses, and the parts which are not described or mentioned inone embodiment may refer to the related descriptions in otherembodiments.

Those ordinary skilled in the art may clearly understand that, theexemplificative units and steps described in the embodiments disclosedherein may be implemented through electronic hardware or a combinationof computer software and electronic hardware. Whether these functionsare implemented through hardware or software depends on the specificapplication and design constraints of the technical schemes. Thoseordinary skilled in the art may implement the described functions indifferent manners for each particular application, while suchimplementation should not be considered as beyond the scope of thepresent disclosure.

In the embodiments provided by the present disclosure, it should beunderstood that the disclosed apparatus (device)/terminal device andmethod may be implemented in other manners. For example, theabove-mentioned apparatus (device)/terminal device embodiment is merelyexemplary. For example, the division of modules or units is merely alogical functional division, and other division manner may be used inactual implementations, that is, multiple units or components may becombined or be integrated into another system, or some of the featuresmay be ignored or not performed. In addition, the shown or discussedmutual coupling may be direct coupling or communication connection, andmay also be indirect coupling or communication connection through someinterfaces, devices or units, and may also be electrical, mechanical orother forms.

The units described as separate components may or may not be physicallyseparated. The components represented as units may or may not bephysical units, that is, may be located in one place or be distributedto multiple network units. Some or all of the units may be selectedaccording to actual needs to achieve the objectives of this embodiment.

In addition, each functional unit in each of the embodiments of thepresent disclosure may be integrated into one processing unit, or eachunit may exist alone physically, or two or more units may be integratedin one unit. The above-mentioned integrated unit may be implemented inthe form of hardware or in the form of software functional unit.

When the integrated module/unit is implemented in the form of a softwarefunctional unit and is sold or used as an independent product, theintegrated module/unit may be stored in a non-transitorycomputer-readable storage medium. Based on this understanding, all orpart of the processes in the method for implementing the above-mentionedembodiments of the present disclosure may also be implemented byinstructing relevant hardware through a computer program. The computerprogram may be stored in a non-transitory computer-readable storagemedium, which may implement the steps of each of the above-mentionedmethod embodiments when executed by a processor. In which, the computerprogram includes computer program codes which may be the form of sourcecodes, object codes, executable files, certain intermediate, and thelike. The computer-readable medium may include any primitive or devicecapable of carrying the computer program codes, a recording medium, aUSB flash drive, a portable hard disk, a magnetic disk, an optical disk,a computer memory, a read-only memory (ROM), a random access memory(RAM), electric carrier signals, telecommunication signals and softwaredistribution media. It should be noted that the content contained in thecomputer readable medium may be appropriately increased or decreasedaccording to the requirements of legislation and patent practice in thejurisdiction. For example, in some jurisdictions, according to thelegislation and patent practice, a computer readable medium does notinclude electric carrier signals and telecommunication signals.

The above-mentioned embodiments are merely intended for describing butnot for limiting the technical schemes of the present disclosure.Although the present disclosure is described in detail with reference tothe above-mentioned embodiments, it should be understood by thoseskilled in the art that, the technical schemes in each of theabove-mentioned embodiments may still be modified, or some of thetechnical features may be equivalently replaced, while thesemodifications or replacements do not make the essence of thecorresponding technical schemes depart from the spirit and scope of thetechnical schemes of each of the embodiments of the present disclosure,and should be included within the scope of the present disclosure.

What is claimed is:
 1. A computer-implemented method of a robotcomprising a radar, comprising: obtaining scanning data produced by theradar of the robot, the scanning data indicative of one or more objectsand an environment surrounding the robot; determining whether anarc-shaped object exists in a scanning range of the radar of the robotbased on the scanning data; in response to determining that thearc-shaped object exists in the scanning range of the robot, determiningthat the arc-shaped object is a charging station; in response todetermining that no arc-shaped object exist in the scanning range of therobot, continuing to obtain scanning data produced by the radar of therobot; and moving the robot to the charging station.
 2. The method ofclaim 1, wherein the step of determining whether the arc-shaped objectexists in the scanning range of the radar of the robot based on thescanning data comprises: obtaining one or more sampling points from thescanning data; determining whether N sampling points meeting a presetfirst condition exists, wherein N is an integer greater than 1, and thefirst condition is a sum of an absolute value of one or more first errorvalues being less than a preset first threshold, the first error valueis a difference of a distance between each of the one or more samplingpoints and a reference point as well as a preset reference distance, andthe reference point is any point within the scanning range; anddetermining that the arc-shaped object exists in the scanning range ofthe robot, in response to determining that the N sampling points meetingthe first condition exist.
 3. The method of claim 2, in response to Nsampling points meeting the first condition, before the step ofdetermining that the arc-shaped object exists in the scanning range ofthe robot, further comprising: determining whether the N sampling pointsmeet a preset second condition, wherein the second condition is anaverage value of one or more second error values being less than apreset second threshold, and the second error value is a square of adifference of the first error value and a reference error value, thereference error value is an average value of the first error value; anddetermining that the arc-shaped object exists in the scanning range ofthe robot, in response to the N sampling points meeting the presetsecond condition.
 4. The method of claim 3, in response to the Nsampling points meeting the preset second condition, before the step ofdetermining that the arc-shaped object exists in the scanning range ofthe robot, further comprising: obtaining a current position point of therobot; calculating a first vector from the current position point of therobot to the reference point; calculating a second vector from a targetsampling point to the reference point, wherein the target sampling pointis any one of the N sampling points; determining whether an includedangle between the first vector and the second vector is greater than apreset angle threshold; and determining that the arc-shaped objectexists in the scanning range of the robot, in response to the includedangle between the first vector and the second vector being greater thanthe preset angle threshold.
 5. The method of claim 1, furthercomprising: controlling a chassis of the robot to rotate a preset angle,and returning to the step of obtaining the scanning data produced by theradar of the robot until the arc-shaped object exists in the scanningrange of the robot or a time consumption exceeds a preset timethreshold, in response to determining that the arc-shaped object notexists in the scanning range of the robot.
 6. A charging stationidentifying device for a robot, comprising: a data obtaining moduleconfigured to obtain scanning data produced by a radar of the robot, thescanning data indicative of one or more objects and an environmentsurrounding the robot; an arc-shaped object determining moduleconfigured to determine whether an arc-shaped object exists in ascanning range of the radar of the robot based on the scanning data; anda charging station determining module configured to determine that thearc-shaped object is a charging station in response to determining thatthe arc-shaped object exists in the scanning range of the robot.
 7. Thedevice of claim 6, wherein the arc-shaped object determining modulecomprises: a sampling point obtaining unit configured to obtain one ormore sampling points from the scanning data; and a first determiningunit configured to determine whether N sampling points meeting a presetfirst condition exists, wherein N is an integer greater than 1, and thefirst condition is a sum of an absolute value of one or more first errorvalues being less than a preset first threshold, the first error valueis a difference of a distance between each of the one or more samplingpoints and a reference point as well as a preset reference distance, andthe reference point is any point within the scanning range.
 8. Thedevice of claim 7, wherein the arc-shaped object determining modulefurther comprises: a second determining unit configured to determinewhether the N sampling points meet a preset second condition, whereinthe second condition is an average value of one or more second errorvalues being less than a preset second threshold, and the second errorvalue is a square of a difference of the first error value and areference error value, the reference error value is an average value ofthe first error value.
 9. The device of claim 8, wherein the arc-shapedobject determining module further comprises: a position point obtainingunit configured to obtain a current position point of the robot; a firstvector calculating unit configured to calculate a first vector from thecurrent position point of the robot to the reference point; a secondvector calculating unit configured to calculate a second vector from atarget sampling point to the reference point, wherein the targetsampling point is any one of the N sampling points; a third determiningunit configured to determine whether an included angle between the firstvector and the second vector is greater than a preset angle threshold.10. The device of claim 6, further comprising: a chassis rotation moduleconfigured to control a chassis of the robot to rotate a preset angle,in response to determining that the arc-shaped object not exists in thescanning range of the robot.
 11. A robot, comprising a memory, one ormore processors, and one or more computer programs, wherein the one ormore computer programs are stored in the memory and configured to beexecuted by the one or more processors, the one or more programscomprise: instructions for obtaining scanning data produced by a radarof the robot, the scanning data indicative of one or more objects and anenvironment surrounding the robot; instructions for determining whetheran arc-shaped object exists in a scanning range of the radar of therobot based on the scanning data; instructions for determining that thearc-shaped object is a charging station in response to determining thatthe arc-shaped object exists in the scanning range of the robot;instructions for continuing to obtain scanning data produced by theradar of the robot in response to not determining that the arc-shapedobject exists in the scanning range of the robot; and instructions formoving the robot to the charging station.
 12. The robot of claim 11,wherein the instructions for determining whether the arc-shaped objectexists in the scanning range of the radar of the robot based on thescanning data comprise: instructions for obtaining one or more samplingpoints from the scanning data; instructions for determining whether Nsampling points meeting a preset first condition exists, wherein N is aninteger greater than 1, and the first condition is a sum of an absolutevalue of one or more first error values being less than a preset firstthreshold, the first error value is a difference of a distance betweeneach of the one or more sampling points and a reference point as well asa preset reference distance, and the reference point is any point withinthe scanning range; and instructions for determining that the arc-shapedobject exists in the scanning range of the robot, in response todetermining that the N sampling points meeting the first conditionexists.
 13. The robot of claim 12, wherein the one or more programsfurther comprise: instructions for determining whether the N samplingpoints meet a preset second condition, wherein the second condition isan average value of one or more second error values being less than apreset second threshold, and the second error value is a square of adifference of the first error value and a reference error value, thereference error value is an average value of the first error value; andinstructions for determining that the arc-shaped object exists in thescanning range of the robot, in response to the N sampling pointsmeeting the preset second condition.
 14. The robot of claim 13, whereinthe one or more programs further comprise: instructions for obtaining acurrent position point of the robot; instructions for calculating afirst vector from the current position point of the robot to thereference point; instructions for calculating a second vector from atarget sampling point to the reference point, wherein the targetsampling point is any one of the N sampling points; instructions fordetermining whether an included angle between the first vector and thesecond vector is greater than a preset angle threshold; and instructionsfor determining that the arc-shaped object exists in the scanning rangeof the robot, in response to the included angle between the first vectorand the second vector being greater than the preset angle threshold. 15.The robot of claim 11, wherein the one or more programs furthercomprise: instructions for controlling a chassis of the robot to rotatea preset angle, and returning to the step of obtaining the scanning dataproduced by the radar of the robot until the arc-shaped object exists inthe scanning range of the robot or a time consumption exceeds a presettime threshold, in response to determining that the arc-shaped objectnot exists in the scanning range of the robot.